center: [0.45, 0.0, 0.0]
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
objects:

- object_id: active_perception/omni_objects/chair/chair_027
  xyz: [0.011631879024207592, 0.02296689711511135, 0.3715174198150635]
  rpy: [93.16153500533625, -0.37445876358481633, 1.8817833515995184]
  scale: 1.0

- object_id: active_perception/omni_objects/bowl/bowl_016
  xyz: [0.18494336307048798, 0.004679824225604534, 0.4506555199623108]
  rpy: [115.95451344196441, -59.25171926281242, 37.23040251133453]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_045
  xyz: [0.037102364003658295, 0.030628377571702003, 0.4346528947353363]
  rpy: [107.07968797455612, 17.87586862627977, -98.64474057934362]
  scale: 1.0

- object_id: active_perception/omni_objects/soap/soap_037
  xyz: [0.0548459067940712, 0.06729228049516678, 0.42365339398384094]
  rpy: [-136.4256770605883, -78.81820718160564, 126.5947761388803]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_109
  xyz: [0.06268155574798584, 0.018211843445897102, 0.4285750687122345]
  rpy: [4.586674347785256, 0.47724765333076513, -162.8736661128842]
  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_036
  xyz: [0.03321743384003639, -0.06747225672006607, 0.4605293571949005]
  rpy: [-110.30126408780143, 33.01806879579863, -57.635476701810305]
  scale: 1.0

- object_id: active_perception/omni_objects/waffle/waffle_041
  xyz: [0.043524932116270065, 0.19063155353069305, 0.41511884331703186]
  rpy: [117.99656191508181, -3.755020184881825, -90.55432548262016]
  scale: 1.0